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industry/foc: make direction alignment configurable

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for sensorless velocity controller (ESC) we don't need to align the direction,
but we have to align the initial motor phase each time the motor start
This commit is contained in:
raiden00pl 2023-10-16 14:14:47 +02:00 • committed by Alan Carvalho de Assis
parent 768d5b29f1
commit 8ee684e586
5 changed files with 22 additions and 0 deletions
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2
examples/foc/foc_motor_b16.c
View file

@ -118,7 +118,9 @@ static int foc_motor_align(FAR struct foc_motor_b16_s *motor, FAR bool *done)
}
PRINTF("Aling results:\n");
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
PRINTF(" dir = %.2f\n", b16tof(final.dir));
#endif
PRINTF(" offset = %.2f\n", b16tof(final.offset));
*done = true;

2
examples/foc/foc_motor_f32.c
View file

@ -118,7 +118,9 @@ static int foc_motor_align(FAR struct foc_motor_f32_s *motor, FAR bool *done)
}
PRINTF("Aling results:\n");
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
PRINTF(" dir = %.2f\n", final.dir);
#endif
PRINTF(" offset = %.2f\n", final.offset);
*done = true;

6
industry/foc/Kconfig
View file

@ -135,6 +135,12 @@ config INDUSTRY_FOC_ALIGN
if INDUSTRY_FOC_ALIGN
config INDUSTRY_FOC_ALIGN_DIR
bool "FOC alignment direction support"
default n
---help---
Enable support for sensor direction alignment
config INDUSTRY_FOC_ALIGN_INDEX
bool "FOC alignment index search support"
default n

6
industry/foc/fixed16/foc_align.c
View file

@ -75,7 +75,9 @@ enum foc_align_run_stage_e
FOC_ALIGN_RUN_INDEX,
#endif
FOC_ALIGN_RUN_OFFSET,
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
FOC_ALIGN_RUN_DIR,
#endif
FOC_ALIGN_RUN_IDLE,
FOC_ALIGN_RUN_DONE
};
@ -347,6 +349,7 @@ errout:
return ret;
}
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
/****************************************************************************
* Name: foc_align_dir_move_b16
****************************************************************************/
@ -663,6 +666,7 @@ errout:
return ret;
}
#endif
/****************************************************************************
* Name: foc_align_idle_run_b16
@ -910,6 +914,7 @@ int foc_routine_align_run_b16(FAR foc_routine_b16_t *r,
break;
}
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
case FOC_ALIGN_RUN_DIR:
{
/* Align direction procedure */
@ -930,6 +935,7 @@ int foc_routine_align_run_b16(FAR foc_routine_b16_t *r,
break;
}
#endif
case FOC_ALIGN_RUN_IDLE:
{

6
industry/foc/float/foc_align.c
View file

@ -75,8 +75,10 @@ enum foc_align_run_stage_e
FOC_ALIGN_RUN_INDEX,
#endif
FOC_ALIGN_RUN_OFFSET,
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
FOC_ALIGN_RUN_DIR,
FOC_ALIGN_RUN_IDLE,
#endif
FOC_ALIGN_RUN_DONE
};
@ -347,6 +349,7 @@ errout:
return ret;
}
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
/****************************************************************************
* Name: foc_align_dir_move_f32
****************************************************************************/
@ -709,6 +712,7 @@ static int foc_align_idle_run_f32(FAR struct foc_align_f32_s *align,
return ret;
}
#endif
/****************************************************************************
* Name: foc_routine_align_init_f32
@ -910,6 +914,7 @@ int foc_routine_align_run_f32(FAR foc_routine_f32_t *r,
break;
}
#ifdef CONFIG_INDUSTRY_FOC_ALIGN_DIR
case FOC_ALIGN_RUN_DIR:
{
/* Align direction procedure */
@ -951,6 +956,7 @@ int foc_routine_align_run_f32(FAR foc_routine_f32_t *r,
break;
}
#endif
case FOC_ALIGN_RUN_DONE:
{